From e7b1ea5b33904eb57e6a368956fb348fc1db9e4d Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 27 Jun 2019 15:23:22 +0200 Subject: [PATCH] Added README parts of the default controller topics --- README.md | 24 +++++++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index e5ef98f..3d839bb 100644 --- a/README.md +++ b/README.md @@ -26,10 +26,13 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro control from ROS side. Expect this to come in future releases. * Use the robot's **speed-scaling**. When speed scaling is active due to safety constraints or the speed slider is used, this gets correctly handled on the ROS side, as well slowing down - trajectory execution accordingly. **Note**: Due to the speed scaling interface, other controllers - than the scaled controllers provided, currently cannot be used. We plan to change this in - upcoming releases. + trajectory execution accordingly.
+ **Note**: Other ros-controllers based on a position interface + can be used with this driver, but may behave wrong if the speed slider isn't set to 100% or if + speed scaling slows down the robot. Also, the pausing function can only be used, if the default + scaled trajectory controller is used. +## Contents This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as: * **controller_stopper**: A small external tool that stops and restarts ros-controllers based on @@ -191,3 +194,18 @@ Once the robot driver is started, load the previously generated program on the r execute it. From that moment on the robot is fully functional. You can make use of the pause function or even stop the program. Simply press the play button again and the ROS driver will reconnect. + +#### Use the action server +After starting up the robot as described in the last section a scaled position based trajectory +controller is started. It's action-server is located at + +```bash +/scaled_pos_traj_controller/follow_joint_trajectory +``` + +Use this with any client interface such as MoveIt! or simply the joint_trajectory_controller rqt +gui: + +``` +rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller +```